This paper presents a collaborative self-localization approach using a multi-GNSS receiver setup and V2V/V2I communications. The purpose is to develop a low-cost alternative (equipment and installation), without compromising the process of localization estimation. The proposed method uses two GPS-receivers installed on the vehicle, disposed longitudinally on the cover (to maximize the distance among receivers) in order to estimate the Yaw and Pitch angles. To estimate the Roll angle, the proposed approach uses information from a receiver on the road infrastructure or on a nearby vehicle using V2V and/or V2I communication (compliant with 802.11p standard). Experimental results revealed that the performance on both absolute positioning and Pitch angle estimation is very high. The method is accurate in Yaw angle estimation enabling acceptable results in heading computation. Therefore the use of this algorithm in risk assessment on crossroads approaching scenarios, is achievable with an affordable setup. The Roll angle estimation can reach satisfactory results if there is a third receiver in the vicinity and in a non-collinear position with respect to the installed onboard receivers.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Collaborative Vehicle Self-Localization Using Multi-GNSS Receivers and V2V/V2I Communications


    Contributors:


    Publication date :

    2015-09-01


    Size :

    500351 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    GNSS LOCALIZATION USING VEHICLE SENSORS

    SONG XIAOFENG F / DENG BING / YUAN JUN | European Patent Office | 2019

    Free access

    Modernized Spaceborne GNSS Receivers

    Krauss, Peter A | Online Contents | 2008


    Road‐centered map‐aided localization for driverless cars using single‐frequency gnss receivers

    Tao, Zui / Bonnifait, Philippe / Frémont, Vincent et al. | British Library Online Contents | 2017



    Integrity monitoring with vector GNSS receivers

    Bhattacharyya, Susmita / Gebre-Egziabher, Demoz | IEEE | 2014